OBSTACLE AVOIDING GUIDE ROBOT

摘要

An obstacle avoiding guide robot (1) which comprises a main leg (2), a self-propelled front wheel part (3) that is linked to the lower portion of the main leg, and assisting legs (6) to which rear wheels (7) are linked to the lower portion thereof and which assist rising of the main leg. This obstacle avoiding guide robot (1) moves while assisting a user to walk by the user holding a holding part (21) which is provided on the upper portion of the main leg and applying an external force such as a pushing force or pulling force. The front wheel part (3) comprises two omnidirectional wheels (11A, 11B) to which rotational force in the forward direction and rotational force in the backward direction are transmitted from a drive part. The two omnidirectional wheels are disposed in positions close to each other and move by an external force or moment from a user being transmitted thereto via the main leg when the front wheel part moves.